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WO1993000196A1 - Welding machine having automatic penetration-related control - Google Patents

Welding machine having automatic penetration-related control Download PDF

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Publication number
WO1993000196A1
WO1993000196A1 PCT/FR1992/000601 FR9200601W WO9300196A1 WO 1993000196 A1 WO1993000196 A1 WO 1993000196A1 FR 9200601 W FR9200601 W FR 9200601W WO 9300196 A1 WO9300196 A1 WO 9300196A1
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WO
WIPO (PCT)
Prior art keywords
welding
head
height
machine according
welding machine
Prior art date
Application number
PCT/FR1992/000601
Other languages
French (fr)
Inventor
Alain Dillet
Diane De Prunele
Original Assignee
Commissariat A L'energie Atomique
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat A L'energie Atomique filed Critical Commissariat A L'energie Atomique
Priority to EP92914397A priority Critical patent/EP0591400A1/en
Priority to JP5501377A priority patent/JPH06510485A/en
Publication of WO1993000196A1 publication Critical patent/WO1993000196A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/06—Arrangements or circuits for starting the arc, e.g. by generating ignition voltage, or for stabilising the arc
    • B23K9/073—Stabilising the arc
    • B23K9/0732—Stabilising of the arc current

Definitions

  • the present invention relates to a welding mac ine using the vision of the welding scene to achieve a quality automatic welding.
  • the welding machine is asser ie in penetration, that is to say that it corrects itself. in real time.
  • the welding parameters characterizing the penetration.
  • the depth to which the base metal has actually been melted during the welding operation is called penetration.
  • a good quality weld requires fusion over the entire thickness, which generally results in a slight upside down (curved upside down). If there is also an addition of metal at the time of welding, volume is added to the molten part, which generally results in an excess thickness of the finished bead. Face and back bulges, as well as their widths, are generally part of the acceptance specifications for a weld.
  • the present invention applies to the case where said weld bead is made with a filler wire in the TIG process (welding by inert gas with tungsten electrodes) and can vary in particular in bent-endray t.
  • the present invention can have applications in many fields and, in particular, in the high-tech industries, such as space, nuclear, aeronautics and agri-food.
  • IT is known, in most automatic welding machines, to reproduce in a systematic way, welding sequences for which the welding parameters (linked to the process and to the trajectory) are developed for nominal conditions, then recorded. and reproduced whatever the actual welding conditions.
  • an automatic penetration control device was described in the review "Welding Institute Bulletin" of May / June 1990, by MM D. HARVEY and B. LUCAS.
  • This device makes it possible to maintain penetration by correcting the shape of the welding current at desired values thanks to a video camera.
  • this camera transforms into a video signal the light level observed on the side opposite to the welding torch, by an optical lens sending said information to the camera via a light guide.
  • the video signal thus obtained at the output of the camera is amplified and compared with a reference setpoint allowing the obtaining of a chosen degree of penetration.
  • This device has the major drawback of requiring a backward vision, which poses problems of accessibility to the reverse side and synchronization between torch and camera.
  • the present invention overcomes these drawbacks and correct the penetration parameters automatically and in real time.
  • the welding machine implements, from processing means controlling a welding head, a penetration control.
  • a combination of servo control by the welding current with regulation of the arc voltage ensures this almost constant penetration of the welding.
  • the present invention relates to a slave welding machine, comprising:
  • the welding head positioned at a measurable height with respect to a welding area, can be controlled in the height direction;
  • control and processing means for obtaining constant penetration comprise, on the one hand means able to control the height of the welding head, to control the arc voltage to a first set value and on the other hand means able to control the welding current to control the bulge-location to a second value setpoint.
  • head height is used in reference to welding in a flat position; in the case of welding in another position, for example vertical rising, it is clear that this is the distance between the head and the plane tangent to the welding surface.
  • the welding head comprises means for emitting light spots on the welding area. It further comprises means for observing the welding zone, themselves being composed of at least one spot position detector capable of determining, from said spot positions, the height of the welding head.
  • the means for controlling the head height comprise:
  • a comparator having a first input receiving a first signal corresponding to the measured arc voltage and a second input receiving a second signal corresponding to a set value, and an output;
  • a head height regulator having an input connected to the output of the comparator and an output connected to means for modifying the height of the welding head.
  • the means for controlling the welding current include:
  • a comparator having a first input receiving a first signal corresponding to the measured height and a second input receiving a second signal corresponding to a set value, and an output;
  • a current regulator having an input connected to the output of the comparator and an output connected to a welding generator supplying the welding head with current.
  • the means for observing the welding area comprise a camera.
  • the means for determining the position of the spots are combined with this camera.
  • said camera is connected to an image viewing monitor, said monitor being able to allow remote monitoring of the conditions under which welding is carried out.
  • the single figure, appended hereto, represents, schematically, the welding machine with its welding head and its processing means. Slaving the welding machine according to the invention in penetration consists in slaving, to a constant value, a parameter characteristic of the penetration, for example the "upside down" of the weld bead, by correcting the welding current from the measurement of the "convex-location" of said cord.
  • convex-reverse the excess thickness of the weld bead, observed on the side opposite to the welding head, which often constitutes a criterion for the acceptability of the weld.
  • the convex-place parameter can be measured, in fact, from the measurement of the height of the welding head above the welding scene. This measurement is made, however, when the following condition is satisfied: the arc voltage must be slaved to a constant value. This regulation of the arc voltage is effected by adjusting the height of the welding head.
  • Correlation laws also called “relations” during the description, can be determined between different parameters. To be exploitable with a view to enslavement, these correlation laws must be bi-uni voic, that is to say monotonic and of non-zero slope. Such a correlation law exists between the curved back and the welding current. A second correlation law is established between the upside down and the upside down of said bead.
  • This welding machine basically consists of a welding head
  • processing means 2 and a visualization monitor 3.
  • the welding head 1 comprises a welding torch 10 ending in a welding electrode 11.
  • This welding torch 10 allows TIG type welding (welding under inert gas with tungsten electrode) with the addition of wire.
  • Its electrode 11 is capable of producing an electric arc whose power is a function of the arc voltage and the arc current received by the welding torch 10.
  • Lighting means 12 make it possible to emit, on the welding area, light spots 13.
  • the area of the welding plane in which the electrode 11 is located is called the welding area, a piece of welding bead and the joint on which one seeks to carry out the welding.
  • the means 12 for emitting spots are oriented towards the front of the torch 10, with respect to the direction of the welding. This orientation is optimal for an angle of approximately 45 ° relative to the optical arc of the observation means (14 to 17). It thus allows optimal projection of the spots 13 on said area.
  • the head height can thus be measured by a known method of triangulation.
  • these means 14 to 17 for observing the welding zone make it possible to visualize said zone and to measure some of its parameters.
  • these means 14 to 17 for observing the welding area include an optical display 17, a beam splitter 15 and a camera 14 for taking pictures.
  • the beam splitter 15 ensures the formation of the image of the welding area in the complementary measurement chamber 16.
  • one or two linear position detectors of the light spots 13 are installed. These position detectors are of the standard type and are calibrated by construction to observe the said spots 13.
  • Analog PSD Position Sensing Device
  • the camera 14 for taking pictures is of the CCD (charge transfer) type for better image quality because of its resistance to glare and its relative insensitivity to the severe electromagnetic conditions present at a short distance from it. bow.
  • This camera 14 is connected, at output, to a display monitor 3.
  • This monitor 3 is, according to the embodiment described, of the monochrome type. A first function of this monitor
  • a second function makes it possible to experimentally optimize the shooting conditions and, in particular, to ensure that the spot position detectors, whose position is fixedly identified on the monitor
  • the position measurement resulting from the PSDs of the chamber 16 is sent, at the output, to the means 2 for processing the penetration.
  • These means 2 comprise, on the one hand, means 20 to 22 for controlling the arc voltage and, on the other hand, means for controlling the welding current 23 to 25.
  • the means 20 to 22 for controlling the arc voltage comprise electronic comparison 21 (a differential amplifier, for example) making it possible to compare, with an arc voltage instruction received at input E2 of said electronic 21, the arc voltage measured at the welding torch 10 and received at input E1 of said comparator 21.
  • electronic comparison 21 a differential amplifier, for example
  • the resulting arc voltage error is introduced into a head height regulator 20 since, as previously described, the arc voltage can be regulated by adjusting the head height.
  • the output of said regulator 20 is connected to means 22 for movements of the head height.
  • the means 23 to 25 for controlling the welding current comprise a comparison electronics 24 (differential amplifier), roughly identical to the electronics 21, making it possible to compare, with a height reference received on the input e2, the value of the height measured by the spot position detectors and received at input e1 of the comparator 24.
  • the output s of said comparator 24 sends the resulting height error to a current regulator 23; in fact, as explained above, the welding current makes it possible to control the penetration.
  • the current correction obtained is sent to a welding generator 25 which modifies the supply current of the welding head. Thanks to the following paragraph, it is easier to understand the mutual servo relationships which exist between the parameters of head height, welding current and arc voltage.
  • the voltage of the arc being essentially a function of the distance between the tip of the electrode and the top of the convex-place
  • the first control loop keeping the arc voltage constant by correcting the height of head, ensures that the measured head height is a direct function of the convex location.
  • the second servo loop now the constant convex location by correcting the welding current, then allows to maintain a constant penetration, the purpose of the operation.
  • the welding machine is fully wired.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Arc Welding In General (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

Automatic welding penetration-related control is achieved by combining automatic control of front-side doming welding current correction with contol of welding arc voltage welding head height adjustment. A measurement of the welding arc voltage is input into an electronic unit (20, 22) which determines the motion to be imparted to the welding head so that said voltage remains constant. Likewise, the welding head (1) has devices (15, 16) for measuring its height. This value is input into into an electronic unit (23, 25) which determines the welding current to be applied to the machine. The invention may be used in a variety of high-technology fields which require automatic welding, e.g. aeronautics and nuclear energy.

Description

MACHINE DE SOUDAGE ASSERVIE EN PENETRATION WELDING MACHINE SERVED IN PENETRATION
DESCRIPTIONDESCRIPTION
La présente invention concerne une mac ine de soudage utilisant La vision de La scène de soudage pour réaliser un soudage automatique de qualité. La machine de soudage est asser ie en pénétration, c'est-à-dire qu'elle corrige elle-même,. en temps réel. Les paramètres de soudage caractér sant La pénétration.The present invention relates to a welding mac ine using the vision of the welding scene to achieve a quality automatic welding. The welding machine is asser ie in penetration, that is to say that it corrects itself. in real time. The welding parameters characterizing the penetration.
On appelle pénétration la profondeur sur laquelle le métal de base a effectivement été fondu Lors de L'opération de soudage. Une soudure de bonne quaLitë nécessite une fusion sur La totalité de l'épaisseur, ce qui entraîne généralement une légère surépaisseur envers (bombé-envers). S'il y a de plus un apport de métal au moment du soudage, on ajoute du volume à la partie fondue, ce qui se traduit généralement par une surëpaisseur endroit (bombé-endroit) du cordon terminé. Les bombés endroit et envers, ainsi que Leurs largeurs, font en général partie des spécifications d'acceptation d'une soudure. La présente invention s'applique au cas où Ledit cordon de soudure est effectué avec un fil d'apport en procédé TIG (soudage par gaz inerte avec électrodes de tungstène) et peut varier notamment en bombé-endroi t .The depth to which the base metal has actually been melted during the welding operation is called penetration. A good quality weld requires fusion over the entire thickness, which generally results in a slight upside down (curved upside down). If there is also an addition of metal at the time of welding, volume is added to the molten part, which generally results in an excess thickness of the finished bead. Face and back bulges, as well as their widths, are generally part of the acceptance specifications for a weld. The present invention applies to the case where said weld bead is made with a filler wire in the TIG process (welding by inert gas with tungsten electrodes) and can vary in particular in bent-endray t.
La présente invention peut avoir des applications dans de nombreux domaines et, en particulier, dans les industries de haute technologie, telles que le spatial, Le nucléaire, l'aéronautique et l ' agro-a L i mentai re . IL est connu, dans La plupart des machines de soudage automa ique, de reproduire de façon systématique, des séquences de soudage pour lesquelles les paramètres de soudage (liés au procédé et à la trajectoire) sont mis au point pour des conditions nominales, puis enregistrées et reproduites quelles que soient les conditions réelles du soudage.The present invention can have applications in many fields and, in particular, in the high-tech industries, such as space, nuclear, aeronautics and agri-food. IT is known, in most automatic welding machines, to reproduce in a systematic way, welding sequences for which the welding parameters (linked to the process and to the trajectory) are developed for nominal conditions, then recorded. and reproduced whatever the actual welding conditions.
En effet, en fonctionnement de production. Les conditions de soudage sont rarement constantes et présentent, en général, des perturbations aléatoires qui peuvent conduire à des conditions dépassant les valeurs de tolérances acceptables- et ainsi provoquer des défauts, voire des rebuts.Indeed, in production operation. Welding conditions are rarely constant and, in general, present random disturbances which can lead to conditions exceeding acceptable tolerance values - and thus cause defects, or even scrap.
Quelques dispositifs existent néanmoins, qui tiennent compte de ces perturbations aléatoires et tentent de limiter Leurs conséquences. Ces disposit fs comportent, en général, des capteurs venant se greffer sur des installations préexistantes.Some devices do exist, however, which take these random disturbances into account and try to limit their consequences. These devices have, in general, sensors which are grafted onto preexisting installations.
Le livre "Robots de Soudage, Capteurs et Adaptativitë de Trajectoire", publié par les Editions HERMES, sous La plume de JM. DETRICHE, répertorie la plupart de ces dispositifs.The book "Welding Robots, Sensors and Trajectory Adaptability", published by Editions HERMES, under La plume de JM. DETRICHE, lists most of these devices.
De plus, un dispositif de contrôle automatique de la pénétration a été décrit dans la revue "Welding Institute Bulletin" de Mai/Juin 1990, par MM D. HARVEY et B. LUCAS. Ce dispositif permet en effet de maintenir la pénétration par correction de la forme du courant de soudage à des valeurs désirées grâce à une caméra vidéo. A cet effet, cette caméra transforme en signal vidéo Le niveau de Lumière observé du côté opposé à la torche de soudage, par une Lentille optique envoyant ladite information à la caméra par L'intermédiaire d'un guide de Lumière. Le signal vidéo ainsi obtenu en sortie de la caméra est amplifié et comparé à une consigne de référence permettant L'obtention d'un degré de pénétration choi si . Ce dispositif a l'inconvénient majeur de nécessiter une vision envers, ce qui pose des problèmes d'accessibilité à La face envers et de synchronisation entre torche et caméra.In addition, an automatic penetration control device was described in the review "Welding Institute Bulletin" of May / June 1990, by MM D. HARVEY and B. LUCAS. This device makes it possible to maintain penetration by correcting the shape of the welding current at desired values thanks to a video camera. For this purpose, this camera transforms into a video signal the light level observed on the side opposite to the welding torch, by an optical lens sending said information to the camera via a light guide. The video signal thus obtained at the output of the camera is amplified and compared with a reference setpoint allowing the obtaining of a chosen degree of penetration. This device has the major drawback of requiring a backward vision, which poses problems of accessibility to the reverse side and synchronization between torch and camera.
De façon udicieuse, La présente invention permet de pallier à ces inconvénients et de corriger les paramètres de pénétration automatiquement et en temps rëe l .The present invention overcomes these drawbacks and correct the penetration parameters automatically and in real time.
La machine de soudage, selon L'invention, met en oeuvre, à partir de moyens de traitement commandant une tête de soudage, un asservissement en pénétration. Une combinaison d'un asservissement par le courant de soudage avec une régulation de La tension d'arc assure cette pénétration quasi constante du soudage. De façon plus précise, La présente invention concerne une machine de soudage asservie, comprenant :The welding machine, according to the invention, implements, from processing means controlling a welding head, a penetration control. A combination of servo control by the welding current with regulation of the arc voltage ensures this almost constant penetration of the welding. More specifically, the present invention relates to a slave welding machine, comprising:
- une tête de soudage ;- a welding head;
- des moyens d'alimentation électrique de cette tête assurant une certaine tension d'arc et un certain courant de soudage ;- Power supply means for this head ensuring a certain arc voltage and a certain welding current;
- des moyens de commande et traitement pour obtenir une pénétration de soudage (appropriée) constante, caractérisée en ce que :- control and processing means to obtain constant (appropriate) welding penetration, characterized in that:
- la tête de soudage, positionnée à une hauteur mesurable par rapport à une zone de soudage, est commandable dans le sens de la hauteur ;- The welding head, positioned at a measurable height with respect to a welding area, can be controlled in the height direction;
- les moyens de commande et de traitement pour obtenir une pénétration constante comprennent, d'une part des moyens aptes à commander la hauteur de la tête de soudage, pour asservir la tension d'arc à une première valeur de consigne et d'autre part des moyens aptes à commander le courant de soudage pour asservir le bombé-endroit à une seconde valeur de consigne.the control and processing means for obtaining constant penetration comprise, on the one hand means able to control the height of the welding head, to control the arc voltage to a first set value and on the other hand means able to control the welding current to control the bulge-location to a second value setpoint.
Dans le présent texte, on emploie le terme "hauteur de tête" en référence à un soudage en position à plat ; dans le cas d'un soudage dans une autre position, par exemple verticale montante, il est clair qu' l s'ag rait de La distance entre La tête et Le plan tangent à la surface de soudage.In the present text, the term "head height" is used in reference to welding in a flat position; in the case of welding in another position, for example vertical rising, it is clear that this is the distance between the head and the plane tangent to the welding surface.
De façon avantageuse, la tête de soudage comprend des moyens pour émettre des spots lumineux sur la zone de soudage. Elle comprend, de plus, des moyens pour observer la zone de soudage, eux-mêmes étant composés d'au moins un détecteur de position des spots apte à déter ner, à partir desdites positions des spots, la hauteur de la tête de soudage.Advantageously, the welding head comprises means for emitting light spots on the welding area. It further comprises means for observing the welding zone, themselves being composed of at least one spot position detector capable of determining, from said spot positions, the height of the welding head.
Selon L'invention, les moyens pour commander la hauteur de tête comprennent :According to the invention, the means for controlling the head height comprise:
- un comparateur ayant une première entrée recevant un premier signal correspondant à la tension d'arc mesurée et une seconde entrée recevant un second signal correspondant à une valeur de consigne, et une sortie ;- a comparator having a first input receiving a first signal corresponding to the measured arc voltage and a second input receiving a second signal corresponding to a set value, and an output;
- un régulateur de hauteur de tête ayant une entrée reliée à la sortie du comparateur et une sortie reliée à des moyens de mod fication de la hauteur de tête de soudage.a head height regulator having an input connected to the output of the comparator and an output connected to means for modifying the height of the welding head.
De même. Les moyens pour commander Le courant de soudage comprennent :Likewise. The means for controlling the welding current include:
- un comparateur ayant une première entrée recevant un premier signal correspondant à la hauteur mesurée et une deuxième entrée recevant un second signal correspondant à une valeur de consigne, et une sortie ; - un régulateur de courant ayant une entrée reliée à la sortie du comparateur et une sortie reliée à un générateur de soudage alimentant la tête de soudage en courant.- a comparator having a first input receiving a first signal corresponding to the measured height and a second input receiving a second signal corresponding to a set value, and an output; - a current regulator having an input connected to the output of the comparator and an output connected to a welding generator supplying the welding head with current.
De préférence, les moyens pour observer la zone de soudage comprennent une caméra de prise de vues. Dans une variante de l'invention, les moyens de détermination de position des spots sont' confondus avec cette caméra .Preferably, the means for observing the welding area comprise a camera. In a variant of the invention, the means for determining the position of the spots are combined with this camera.
D'autre part, de préférence également, ladite caméra de prise de vues est reliée à un moniteur de visualisation d'images, Ledit moniteur étant apte à permettre une surveillance à distance des conditions dans lesquelles est exécute Le soudage.On the other hand, preferably also, said camera is connected to an image viewing monitor, said monitor being able to allow remote monitoring of the conditions under which welding is carried out.
D'autres caractéristiques et avantages de L'invention ressortiront mieux de La description qui va suivre, donnée à titre illustratif et non limitatif, en référence au dessin.Other characteristics and advantages of the invention will emerge more clearly from the description which follows, given by way of illustration and not limitation, with reference to the drawing.
La figure unique, jointe en annexe, représente, de façon schématique, la machine de soudage avec sa tête de soudage et ses moyens de traitement. Asservir en pénétration la machine de soudage selon l'invention consiste à asservir, à une valeur constante, un paramètre caractéristique de la pénétration, par exemple Le "bombé-envers" du cordon de soudure, en corrigeant le courant dé soudage à partir de la mesure du "bombé-endroit" dudit cordon.The single figure, appended hereto, represents, schematically, the welding machine with its welding head and its processing means. Slaving the welding machine according to the invention in penetration consists in slaving, to a constant value, a parameter characteristic of the penetration, for example the "upside down" of the weld bead, by correcting the welding current from the measurement of the "convex-location" of said cord.
On comprendra par "bombé-envers", La surëpaisseur envers du cordon de soudure, observée du côté opposé à la tête de soudage, qui constitue souvent un critère d'acceptabilité de la soudure. Le paramètre bombé-endroit peut être mesure, en fait, à partir de la mesure de la hauteur de la tête de soudage au-dessus de la scène de soudage. Cette mesure s'effectue, cependant, lorsque La condition sui ante est vérifiée : la tension d'arc doit être asservie à une valeur constante. Cette régulation de la tension d'arc s'effectue par ajustage de La hauteur de La tête de soudage.It will be understood by "convex-reverse", the excess thickness of the weld bead, observed on the side opposite to the welding head, which often constitutes a criterion for the acceptability of the weld. The convex-place parameter can be measured, in fact, from the measurement of the height of the welding head above the welding scene. This measurement is made, however, when the following condition is satisfied: the arc voltage must be slaved to a constant value. This regulation of the arc voltage is effected by adjusting the height of the welding head.
Une combinaison entre certains paramètres existe donc puisque, ind rectement, le courant de soudage varie en fonction de la hauteur de tête, et puisque les variations de hauteur de tête permettent de modifier la tension d'arc.A combination between certain parameters therefore exists since, indirectly, the welding current varies as a function of the head height, and since the variations in head height make it possible to modify the arc voltage.
Des lois de corrélation, nommées aussi "relations" au cours de La description, peuvent être déterminées entre différents paramètres. Pour être exploitables en vue d'un asserv ssement, ces lois de corrélation doivent être bi-uni voques, c'est-à-dire monotones et de pente non nulle. Une telle loi de corrélation existe entre le bombé-envers et Le courant de soudage. Une seconde Loi de corrélation s'établit entre le bombé-envers et le bombé-endroit dudit cordon.Correlation laws, also called "relations" during the description, can be determined between different parameters. To be exploitable with a view to enslavement, these correlation laws must be bi-uni voic, that is to say monotonic and of non-zero slope. Such a correlation law exists between the curved back and the welding current. A second correlation law is established between the upside down and the upside down of said bead.
Sur La figure, on a représenté la machine de soudage selon l'invention. Cette machine de soudage se compose essentiellement d'une tête de soudageIn the figure, there is shown the welding machine according to the invention. This welding machine basically consists of a welding head
1, de moyens de traitement 2 et d'un moniteur de vi sua lisation 3.1, processing means 2 and a visualization monitor 3.
La tête de soudage 1 comporte une torche de soudage 10 se terminant par une électrode de soudage 11. Cette torche de soudage 10 permet un soudage de type TIG (soudage sous gaz inerte avec électrode de tungstène) avec apport de fil. Son électrode 11 est apte à produire un arc électrique dont la puissance est fonction de la tension d'arc et du courant d'arc reçus par la torche de soudage 10.The welding head 1 comprises a welding torch 10 ending in a welding electrode 11. This welding torch 10 allows TIG type welding (welding under inert gas with tungsten electrode) with the addition of wire. Its electrode 11 is capable of producing an electric arc whose power is a function of the arc voltage and the arc current received by the welding torch 10.
Des moyens d'éclairage 12 permettent d'émettre, sur La zone de soudage, des spots lumineux 13. On nomme zone de soudage, la portion du plan de soudage dans lequel se trouve l'électrode 11, un morceau de cordon de soudage et le joint sur Lequel on cherche à effectuer la soudure. Les moyens 12 pour émettre des spots sont orientés vers L'avant de La torche 10, par rapport à La direction du soudage. Cette orientation est optimale pour un angle d'environ 45° par rapport à L'arc optique des moyens d'observation (14 à 17). Elle permet ainsi une projection optimale des spots 13 sur Ladite zone. On peut ainsi mesurer La hauteur de tête par une méthode connue de triangulation.Lighting means 12 make it possible to emit, on the welding area, light spots 13. The area of the welding plane in which the electrode 11 is located is called the welding area, a piece of welding bead and the joint on which one seeks to carry out the welding. The means 12 for emitting spots are oriented towards the front of the torch 10, with respect to the direction of the welding. This orientation is optimal for an angle of approximately 45 ° relative to the optical arc of the observation means (14 to 17). It thus allows optimal projection of the spots 13 on said area. The head height can thus be measured by a known method of triangulation.
Positionnés en avant de la torche de soudage 10, les moyens 14 à 17 pour observer La zone de soudage permettent de visualiser ladite zone et de mesurer certains de ses paramètres. En effet, ces moyens 14 à 17 pour observer La zone de soudage comprennent une optique 17 de visualisation, un séparateur 15 de faisceau et une caméra 14 de prise de vues.Positioned in front of the welding torch 10, the means 14 to 17 for observing the welding zone make it possible to visualize said zone and to measure some of its parameters. In fact, these means 14 to 17 for observing the welding area include an optical display 17, a beam splitter 15 and a camera 14 for taking pictures.
Le séparateur 15 de faisceau assure la formation de l'image de La zone de soudage dans La chambre de mesure 16 complémenta re. Dans cette chambre 16, sont implantés un ou deux détecteurs linéaires de position des spots lumineux 13. Ces détecteurs de position sont de type standard et sont calés par construction pour observer lesdits spots 13.The beam splitter 15 ensures the formation of the image of the welding area in the complementary measurement chamber 16. In this chamber 16, one or two linear position detectors of the light spots 13 are installed. These position detectors are of the standard type and are calibrated by construction to observe the said spots 13.
En effet, ces détecteurs permettent de déterminer La hauteur de La tête de soudage à partir de la position des spots sur la zone de soudage. Il s'agit par exemple de circuits de typeIndeed, these detectors make it possible to determine the height of the welding head from the position of the spots on the welding area. These are for example circuits of the type
PSD (Position Sensing Device) analogiques, donnant, par association avec une électronique adéquate, la position Longitudinale du "centre de gravité" d'un spot lumineux projeté sur une barrette photosensible.Analog PSD (Position Sensing Device), giving, by association with adequate electronics, the Longitudinal position of the "center of gravity" of a light spot projected on a photosensitive strip.
La caméra 14 de prise de vues est de type CCD (à transfert de charge) pour une meilleure qualité d'image du fait de sa résistance à L'ébloui ssement et de sa relative insensibilité aux sévères conditions électromagnétiques présentes à courte distance de L'arc.The camera 14 for taking pictures is of the CCD (charge transfer) type for better image quality because of its resistance to glare and its relative insensitivity to the severe electromagnetic conditions present at a short distance from it. bow.
Cette caméra 14 est reliée, en sortie, à un moniteur 3 de visualisation. Ce moniteur 3 est, selon Le mode de réalisation décrit, de type monochrome. Une première fonction de ce moniteurThis camera 14 is connected, at output, to a display monitor 3. This monitor 3 is, according to the embodiment described, of the monochrome type. A first function of this monitor
3 est de permettre à l'utilisateur la surveillance à distance de La zone de soudage. Une seconde fonction permet d'optimiser expérimentalement les cond tions de prise de vues et, en particulier, de s'assurer que les détecteurs de position des spots, dont la pos tion est repérée de façon fixe sur le moniteur3 is to allow the user remote monitoring of the welding area. A second function makes it possible to experimentally optimize the shooting conditions and, in particular, to ensure that the spot position detectors, whose position is fixedly identified on the monitor
3, travaillent bien dans des conditions convenables3, work well under suitable conditions
(à savoir : zone de soudage dégagée, pas αe ref lets ... ) . Les trajets optiques, en provenance des moyens 12 d'émission des spots et des moyens 14 à(i.e.: cleared welding area, no αe ref lets ...). The optical paths, coming from the means 12 for emitting the spots and the means 14 to
17 d'observation de la zone de soudage, traversent par des fenêtres transparentes une buse 18 pour converger sur la tôle à souder aux environs de la pointe de l'électrode 11.17 for observation of the welding zone, through transparent windows pass a nozzle 18 to converge on the sheet to be welded around the tip of the electrode 11.
De plus, la mesure de position résultant des PSD de la chambre 16 est envoyée, en sortie, aux moyens 2 de traitement de la pénétration. Ces moyens 2 comprennent, d'une part, des moyens 20 à 22 d'asservissement de La tension d'arc et, d'autre part, des moyens d'asservissement 23 à 25 du courant de soudage.In addition, the position measurement resulting from the PSDs of the chamber 16 is sent, at the output, to the means 2 for processing the penetration. These means 2 comprise, on the one hand, means 20 to 22 for controlling the arc voltage and, on the other hand, means for controlling the welding current 23 to 25.
Les moyens 20 à 22 d'asservissement de La tension d'arc comprennent une électronique 21 de comparaison (un amplificateur différentiel, par exemple) permettant de comparer, à une consigne de tension d'arc reçue en entrée E2 de ladite électronique 21, la tension d'arc mesurée au niveau de la torche 10 de soudage et reçue en entrée E1 dudit comparateur 21. En sortie S dudit comparateur 21, l'erreur de tension d'arc résultante est introduite dans un régulateur 20 de hauteur de tête puisque, comme décrit précédemment, la tension d'arc peut être régulée par ajustage de la hauteur de tête. La sortie dudit régulateur 20 est connectée à des moyens 22 de mouvements de la hauteur de tête.The means 20 to 22 for controlling the arc voltage comprise electronic comparison 21 (a differential amplifier, for example) making it possible to compare, with an arc voltage instruction received at input E2 of said electronic 21, the arc voltage measured at the welding torch 10 and received at input E1 of said comparator 21. At output S of said comparator 21, the resulting arc voltage error is introduced into a head height regulator 20 since, as previously described, the arc voltage can be regulated by adjusting the head height. The output of said regulator 20 is connected to means 22 for movements of the head height.
De façon parallèle, les moyens 23 à 25 d'asservissement du courant de soudage comprennent une électronique de comparaison 24 (amplificateur différentiel), à peu près identique à L'électronique 21, permettant de comparer, à une consigne de hauteur reçue sur l'entrée e2, La valeur de La hauteur mesurée par Les détecteurs de position de spots et reçue en entrée e1 du comparateur 24. La sortie s dudit comparateur 24 envoie L'erreur de hauteur résultante sur un régulateur 23 de courant ; en effet, comme expliqué précédemment, le courant de soudage permet de piloter La pénétration. Ainsi, La correction de courant obtenue est envoyée dans un générateur 25 de soudage qui modifie Le courant d'alimentation de La tête de soudage. Grâce au paragraphe suivant, il est plus aisé de comprendre les relations d'asservissement mutuel qui existent entre les paramètres de hauteur de tête, de courant de soudage et de tension d'arc. En effet, la tension de L'arc étant essentiellement fonction de la distance entre la pointe de L'électrode et le sommet du bombé-endroit, La première boucle d'asservissement, maintenant la tension d'arc constante par correction de la hauteur de tête, permet de s'assurer que la hauteur de tête mesurée est directement fonction du bombé-endroit. La seconde boucle d'asservissement, maintenant Le bombé-endroit constant par correction du courant de soudage, permet alors de conserver une pénétration constante, but de L'opération.In parallel, the means 23 to 25 for controlling the welding current comprise a comparison electronics 24 (differential amplifier), roughly identical to the electronics 21, making it possible to compare, with a height reference received on the input e2, the value of the height measured by the spot position detectors and received at input e1 of the comparator 24. The output s of said comparator 24 sends the resulting height error to a current regulator 23; in fact, as explained above, the welding current makes it possible to control the penetration. Thus, the current correction obtained is sent to a welding generator 25 which modifies the supply current of the welding head. Thanks to the following paragraph, it is easier to understand the mutual servo relationships which exist between the parameters of head height, welding current and arc voltage. Indeed, the voltage of the arc being essentially a function of the distance between the tip of the electrode and the top of the convex-place, the first control loop, keeping the arc voltage constant by correcting the height of head, ensures that the measured head height is a direct function of the convex location. The second servo loop, now the constant convex location by correcting the welding current, then allows to maintain a constant penetration, the purpose of the operation.
Selon Le mode de réalisation décrit de l'invention, la machine de soudage est entièrement câbLëe .According to the described embodiment of the invention, the welding machine is fully wired.
On peut, cependant, réaliser une machine de soudage ayant Les mêmes fonctions, mais totalement, ou partiellement, programmée dans sa partie traitement de La pénétration. One can, however, realize a welding machine having the same functions, but totally, or partially, programmed in its processing part of the penetration.

Claims

REVENDICATIONS
1. Machine de soudage asservie, comprenant :1. Slave welding machine, comprising:
- une tête de soudage (1) avec fil d'apport ;- a welding head (1) with filler wire;
- des moyens d'alimentation électrique de cette tête assurant une certaine tension d'arc et un certain courant de soudage ;- Power supply means for this head ensuring a certain arc voltage and a certain welding current;
- des moyens (2) de commande et traitement pour obtenir une pénétration de soudage (appropriée) constante, caractérisée en ce que : - la tête de soudage, positionnée à une hauteur mesurable par rapport à une zone de soudage, est commandable dans le sens de la hauteur ;- control and processing means (2) for obtaining a constant (appropriate) welding penetration, characterized in that: - the welding head, positioned at a measurable height relative to a welding zone, is controllable in the direction height;
- Les moyens de commande et de traitement pour obtenir une pénétration constante comprennent, d'une part, des moyens automatiques (20, 22) aptes à commander la hauteur de la tête de soudage, pour réaliser un premier asservissement de la tension d'arc à une première valeur de consigne et, d'autre part, des moyens (23, 25) aptes à commander le courant de soudage résultant pour réaliser un second asservissement du bombë-endroi t à une seconde valeur de consi gne.- The control and processing means for obtaining constant penetration comprise, on the one hand, automatic means (20, 22) capable of controlling the height of the welding head, to produce a first control of the arc voltage to a first setpoint value and, on the other hand, means (23, 25) capable of controlling the resulting welding current to achieve a second servo of the bomb-endroi t to a second setpoint value.
2. Machine de soudage selon la revendication 1, caractérisée en ce que la tête de soudage comprend des moyens (12, 13) pour émettre des spots lumineux sur la zone de soudage.2. Welding machine according to claim 1, characterized in that the welding head comprises means (12, 13) for emitting light spots on the welding area.
3. Machine de soudage selon l'une quelconque des revendications 1 et 2, caractérisée en ce que la tête de soudage comprend en outre des moyens (14, 17) pour observer La zone de soudage.3. Welding machine according to any one of claims 1 and 2, characterized in that the welding head further comprises means (14, 17) for observing the welding area.
4. Machine de soudage selon la revendication 3, caractérisée en ce que les moyens pour observer la zone de soudage comprennent au moins un détecteur de position des spots apte à déterminer, à partir desdites positions des spots, La hauteur de la tête de soudage.4. Welding machine according to claim 3, characterized in that the means for observing the welding area comprise at least one detector position of spots suitable for determining, from said positions of the spots, the height of the welding head.
5. Machine de soudage selon L'une quelconque des revendications 1 à 4, caractérisée en ce que les moyens pour commander la hauteur de tête de soudage comprennent :5. Welding machine according to any one of claims 1 to 4, characterized in that the means for controlling the height of the welding head comprise:
- un comparateur ayant une première entrée (E1) recevant un premier signal correspondant à La tension d'arc mesurée et une seconde entrée (E2) recevant un second signal correspondant à une valeur de consigne, et une sortie (S) ;- a comparator having a first input (E1) receiving a first signal corresponding to the measured arc voltage and a second input (E2) receiving a second signal corresponding to a set value, and an output (S);
- un régulateur de hauteur de tête ayant une entrée reliée à La sortie du comparateur et une sortie reliée à des moyens de modification de La hauteur de tête de soudage.a head height regulator having an input connected to the output of the comparator and an output connected to means for modifying the height of the welding head.
6. Machine de soudage selon l'une quelconque des revendications 1 à 5, caractérisée en ce que Les moyens pour commander le courant de soudage comprennent :6. Welding machine according to any one of claims 1 to 5, characterized in that the means for controlling the welding current comprise:
- un comparateur ayant une première entrée (e1) recevant un premier signal correspondant à La hauteur mesurée et une deuxième entrée (e2) recevant un second signal correspondant à une valeur de consigne, et une sortie (s) ;- a comparator having a first input (e1) receiving a first signal corresponding to the measured height and a second input (e2) receiving a second signal corresponding to a set value, and an output (s);
- un régulateur de courant ayant une entrée reliée à la sortie du comparateur et une sortie reliée à un générateur de soudage alimentant la tête de soudage en courant. - a current regulator having an input connected to the output of the comparator and an output connected to a welding generator supplying the welding head with current.
7. Machine de soudage selon La revendication7. Welding machine according to claim
3, caractérisée en ce que Les moyens pour observer La zone de soudage comprennent une caméra (14) de prise de vues. 3, characterized in that the means for observing the welding zone comprise a camera (14) for taking pictures.
8. Machine de soudage selon la revendicat on8. Welding machine according to the claim
7, caractérisée en ce que ladite caméra (14) de prise de vues est reliée à un moniteur (3) de visualisation d'images.7, characterized in that said camera (14) for taking pictures is connected to a monitor (3) for viewing images.
9. Machine de soudage selon la revendication9. Welding machine according to claim
8, caractérisée en ce que le moniteur de visualisation d'images est apte à permettre une surveillance à distance des conditions dans Lesquelles est exécute Le soudage. 8, characterized in that the image display monitor is capable of allowing remote monitoring of the conditions under which the welding is carried out.
PCT/FR1992/000601 1991-06-28 1992-06-26 Welding machine having automatic penetration-related control WO1993000196A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP92914397A EP0591400A1 (en) 1991-06-28 1992-06-26 Welding machine having automatic penetration-related control
JP5501377A JPH06510485A (en) 1991-06-28 1992-06-26 Penetration control welding machine

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR91/08109 1991-06-28
FR9108109A FR2678191B1 (en) 1991-06-28 1991-06-28 WELDING MACHINE SERVED IN PENETRATION.

Publications (1)

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WO1993000196A1 true WO1993000196A1 (en) 1993-01-07

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JP (1) JPH06510485A (en)
CA (1) CA2111346A1 (en)
FR (1) FR2678191B1 (en)
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Cited By (4)

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Publication number Priority date Publication date Assignee Title
WO2000006335A1 (en) * 1998-07-29 2000-02-10 Tregaskiss Ltd. Arc welding torch
US6130407A (en) * 1998-07-29 2000-10-10 Tregaskiss, Ltd. Arc welding torch
US10821539B2 (en) 2013-11-12 2020-11-03 Lincoln Global, Inc. System and method for pendant component for a welding system
USD765111S1 (en) 2014-06-24 2016-08-30 Lincoln Global, Inc. Display screen or portion thereof with graphical user interface

Also Published As

Publication number Publication date
JPH06510485A (en) 1994-11-24
CA2111346A1 (en) 1993-01-07
FR2678191B1 (en) 1995-06-30
EP0591400A1 (en) 1994-04-13
FR2678191A1 (en) 1992-12-31

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